Taxes on Earnings from Continuing Operations - Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Differences between the effective income tax rate and the U.S. statutory tax rate:
Statutory tax rate on earnings from continuing operations (as a percent)	21.00%	21.00%	21.00%
Impact of foreign operations (as a percent)	(3.90%)	(3.30%)	(5.00%)
Impact of TCJA and other related items (as a percent)		0.50%	(2.10%)
Foreign-derived intangible income benefit (as a percent)	(1.10%)	(1.00%)	(2.00%)
Domestic impairment loss (as a percent)	(0.10%)	(2.70%)
Excess tax benefits related to stock compensation (as a percent)	(1.70%)	(1.90%)	(2.50%)
Research tax credit (as a percent)	(0.60%)	(1.00%)	(1.20%)
Resolution of certain tax positions pertaining to prior years (as a percent)	(0.70%)	(2.80%)
Intercompany restructurings and integration	0.10%	0.50%
State taxes, net of federal benefit (as a percent)	0.40%	0.50%	0.80%
All other, net (as a percent)	0.50%	0.20%	0.60%
Effective tax rate on earnings from continuing operations (as a percent)	13.90%	10.00%	9.60%